Hydro compatibility: Catkinization + PCL Conversions

These set of patches bring *hydro* compatibility to *scan_tools*.

Briefly, the main changes are,

 - Addition of `package.xml` to describe the contents, license, authors, dependencies... of the package
 - Deletion of all `manifest.xml`, `Makefile`, `doxygen.dox` files
 - Updating of all `CMakeLists.txt` to make use of *catkin*  
 - Use of `pcl_conversions` to convert header types to/from ROS in *scan_to_cloud_converter*, *laser_ortho_projector* and *laser_scan_matcher*
 -  Andrea Censi's Canonical Scan Matcher is no longer treated as a separate package. Instead,
    - *csm* is built alongside *laser_scan_matcher*
    - It is compiled as an External CMake Project using CMake functions (cf. `laser_scan_matcher/csm/GetCSM.cmake`)
    - Installer now downloads straight from github and checks out appropriate revision
    - New patch included to make compilation less verbose (no warnings are printed)
    - Upon installation (`catkin_make install`) only the headers and the libraries needed by `lib_laser_scan_matcher.so` are actually installed in the install space (eg `catkin_ws/install`)
    - License tags  in `laser_scan_matcher/package.xml` have been updated to make clear the library, node and nodelet are BSD whereas *csm* is LGPLv3. A copy of the LGPLv3 license was placed in *csm* directory.
 - Removed ROS-generated `cfg` directory in *laser_scan_splitter*, which AFAIK was unused
 - Use markdown syntax for *ncd_parser*'s README
 - **No actual functionality changes** are included in this pull request 

The main reason from integrating *csm* into *laser_scan_matcher* is that I couldn't quite manage to release *csm* as a fully catkinized package that other ROS components can use it. And since *laser_scan_matcher* was going to be the only user of *csm*, then it made sense to place them together.

All modules compile now on Ubuntu 12.04 with hydro. I tested the `laser_scan_matcher` and it works just as before. Other nodes may benefit from more testing before patch is accepted (even though since there are no functionality changes, there shouldn't be any issues).

If testing is successful, I would like to release a .deb package using bloom soon.

I would also recommend the changes are applied on top a hydro or hydro-devel branch (in lieu of master) :)